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<div class="title">correspondence_rejection_sample_consensus.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_rejection.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/ransac.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_registration.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/common/transforms.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">   59</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">CorrespondenceRejectorSampleConsensus</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">CorrespondenceRejector::input_correspondences_</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">CorrespondenceRejector::rejection_name_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">CorrespondenceRejector::getClassName</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;CorrespondenceRejectorSampleConsensus&gt; Ptr;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const CorrespondenceRejectorSampleConsensus&gt; ConstPtr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aaa1d22adcc0770ba490d63c000a80745">   76</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aaa1d22adcc0770ba490d63c000a80745">CorrespondenceRejectorSampleConsensus</a> () </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;          : inlier_threshold_ (0.05)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          , max_iterations_ (1000) <span class="comment">// std::numeric_limits&lt;int&gt;::max ()</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          , input_ ()</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          , input_transformed_ ()</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;          , target_ ()</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;          , best_transformation_ ()</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          , refine_ (false)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          , save_inliers_ (false)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ab97eb70d3661574301fe1f978576726d">rejection_name_</a> = <span class="stringliteral">&quot;CorrespondenceRejectorSampleConsensus&quot;</span>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aac049e0c3ed7ae001505766ad642b1e8">   90</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aac049e0c3ed7ae001505766ad642b1e8">~CorrespondenceRejectorSampleConsensus</a> () {}</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a2aaf796cecda8778814f114c54026570">getRemainingCorrespondences</a> (<span class="keyword">const</span> pcl::Correspondences&amp; original_correspondences, </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                                     pcl::Correspondences&amp; remaining_correspondences);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        PCL_DEPRECATED (<span class="stringliteral">&quot;[pcl::registration::CorrespondenceRejectorSampleConsensus::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.&quot;</span>)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        virtual <span class="keywordtype">void</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a317ed67e3cf3c3dc95515b1ae1922477">setInputCloud</a> (const PointCloudConstPtr &amp;cloud);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        PCL_DEPRECATED (&quot;[pcl::registration::<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">CorrespondenceRejectorSampleConsensus</a>::<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a3c79c87e459d2a63d5a92e9aa2d1db37">getInputCloud</a>] <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a3c79c87e459d2a63d5a92e9aa2d1db37">getInputCloud</a> is deprecated. Please use <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ab49081cebce1c204c25dcacf5c8f2a3b">getInputSource</a> instead.&quot;)</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        PointCloudConstPtr const</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a3c79c87e459d2a63d5a92e9aa2d1db37">getInputCloud</a> ();</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        virtual inline <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a0ade3619194ea442ea9bd819762e63d0">  116</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a0ade3619194ea442ea9bd819762e63d0">setInputSource</a> (const PointCloudConstPtr &amp;cloud) </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        { </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          input_ = cloud; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keyword">inline</span> PointCloudConstPtr <span class="keyword">const</span> </div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ab49081cebce1c204c25dcacf5c8f2a3b">  123</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ab49081cebce1c204c25dcacf5c8f2a3b">getInputSource</a> () { <span class="keywordflow">return</span> (input_); }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        PCL_DEPRECATED (<span class="stringliteral">&quot;[pcl::registration::CorrespondenceRejectorSampleConsensus::setTargetCloud] setTargetCloud is deprecated. Please use setInputTarget instead.&quot;</span>)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        virtual <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a40ad890d41710c6b1eef0f75a4d24046">setTargetCloud</a> (const PointCloudConstPtr &amp;cloud);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        virtual inline <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a42faaefd43eaf43b32efe0b1722a3d98">  136</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a42faaefd43eaf43b32efe0b1722a3d98">setInputTarget</a> (const PointCloudConstPtr &amp;cloud) { target_ = cloud; }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <span class="keyword">inline</span> PointCloudConstPtr <span class="keyword">const</span> </div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aba38b8207d7de0e9bf524989375228bb">  140</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aba38b8207d7de0e9bf524989375228bb">getInputTarget</a> () { <span class="keywordflow">return</span> (target_ ); }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a9fee603842fbb8711d88ed2187c9212b">  145</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a9fee603842fbb8711d88ed2187c9212b">requiresSourcePoints</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="keyword">        </span>{ <span class="keywordflow">return</span> (<span class="keyword">true</span>); }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a02c8f8bf4ceb74c9c78aad5b4b0e84f1">  150</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a02c8f8bf4ceb74c9c78aad5b4b0e84f1">setSourcePoints</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        { </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;          PointCloudPtr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          fromPCLPointCloud2 (*cloud2, *cloud);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a0ade3619194ea442ea9bd819762e63d0">setInputSource</a> (cloud);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a365645ecdf7a1642bb4db927b71e9240">  159</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a365645ecdf7a1642bb4db927b71e9240">requiresTargetPoints</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="keyword">        </span>{ <span class="keywordflow">return</span> (<span class="keyword">true</span>); }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a96e6bbc7ad3b19b4f33f60d3748a36e7">  164</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a96e6bbc7ad3b19b4f33f60d3748a36e7">setTargetPoints</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        { </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          PointCloudPtr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          fromPCLPointCloud2 (*cloud2, *cloud);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a42faaefd43eaf43b32efe0b1722a3d98">setInputTarget</a> (cloud);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a48a908a4f76abe9b09d245e295bc00e2">  176</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a48a908a4f76abe9b09d245e295bc00e2">setInlierThreshold</a> (<span class="keywordtype">double</span> threshold) { inlier_threshold_ = threshold; };</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a0923e654979f143451b724300e591829">  182</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a0923e654979f143451b724300e591829">getInlierThreshold</a> () { <span class="keywordflow">return</span> inlier_threshold_; };</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        PCL_DEPRECATED (<span class="stringliteral">&quot;[pcl::registration::CorrespondenceRejectorSampleConsensus::setMaxIterations] setMaxIterations is deprecated. Please use setMaximumIterations instead.&quot;</span>)</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        void</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a48872674ea2153a558fcb10756783612">setMaxIterations</a> (<span class="keywordtype">int</span> max_iterations);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        inline <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a49fa9e17ad1e371c4b5db9766d598349">  195</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a49fa9e17ad1e371c4b5db9766d598349">setMaximumIterations</a> (<span class="keywordtype">int</span> max_iterations) { max_iterations_ = std::max (max_iterations, 0); }</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        PCL_DEPRECATED (<span class="stringliteral">&quot;[pcl::registration::CorrespondenceRejectorSampleConsensus::getMaxIterations] getMaxIterations is deprecated. Please use getMaximumIterations instead.&quot;</span>)</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        int</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ac40d21538c1487e0a080bb084fb64cb7">getMaxIterations</a> ();</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        inline <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aa086670c0dec609354fcb5f02746ee8f">  208</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aa086670c0dec609354fcb5f02746ee8f">getMaximumIterations</a> () { <span class="keywordflow">return</span> (max_iterations_); }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="keyword">inline</span> Eigen::Matrix4f </div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a1542fc4a3d5d6c82485a321864a027af">  214</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a1542fc4a3d5d6c82485a321864a027af">getBestTransformation</a> () { <span class="keywordflow">return</span> best_transformation_; };</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ad51df1b8798951557863082feabcc0b8">  220</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ad51df1b8798951557863082feabcc0b8">setRefineModel</a> (<span class="keyword">const</span> <span class="keywordtype">bool</span> refine)</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        {</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          refine_ = refine;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a9c435f892376eb27f1e56b0f331e91ca">  227</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a9c435f892376eb27f1e56b0f331e91ca">getRefineModel</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;          <span class="keywordflow">return</span> (refine_);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        }</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a09e5739be1169a311fae7408e12cb359">  236</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a09e5739be1169a311fae7408e12cb359">getInliersIndices</a> (std::vector&lt;int&gt; &amp;inlier_indices) { inlier_indices = inlier_indices_; }</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a856f38d7b293a9acbd019c95cbffa124">  242</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a856f38d7b293a9acbd019c95cbffa124">setSaveInliers</a> (<span class="keywordtype">bool</span> s) { save_inliers_ = s; }</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a377dcf34beb9b60fc22dd76a5a7336ad">  246</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a377dcf34beb9b60fc22dd76a5a7336ad">getSaveInliers</a> () { <span class="keywordflow">return</span> save_inliers_; }</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a4178793e09de5b7a197045d144204394">  255</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a4178793e09de5b7a197045d144204394">applyRejection</a> (pcl::Correspondences &amp;correspondences)</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        {</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a2aaf796cecda8778814f114c54026570">getRemainingCorrespondences</a> (*<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a>, correspondences);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        <span class="keywordtype">double</span> inlier_threshold_;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        <span class="keywordtype">int</span> max_iterations_;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        PointCloudConstPtr input_;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        PointCloudPtr input_transformed_;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        PointCloudConstPtr target_;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        Eigen::Matrix4f best_transformation_;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        <span class="keywordtype">bool</span> refine_;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        std::vector&lt;int&gt; inlier_indices_;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        <span class="keywordtype">bool</span> save_inliers_;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    };</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  }</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;}</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/correspondence_rejection_sample_consensus.hpp&gt;</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_a74d516ca516f7421fd86a53dec1a57b1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">pcl::registration::CorrespondenceRejector::input_correspondences_</a></div><div class="ttdeci">CorrespondencesConstPtr input_correspondences_</div><div class="ttdoc">The input correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_aa5996af869d7aaa6b8b8dc156038dd3f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">pcl::registration::CorrespondenceRejector::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:135</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_html_ab97eb70d3661574301fe1f978576726d"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">pcl::registration::CorrespondenceRejector::rejection_name_</a></div><div class="ttdeci">std::string rejection_name_</div><div class="ttdoc">The name of the rejection method.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">pcl::registration::CorrespondenceRejectorSampleConsensus</a></div><div class="ttdoc">CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Conse...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a02c8f8bf4ceb74c9c78aad5b4b0e84f1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a02c8f8bf4ceb74c9c78aad5b4b0e84f1">pcl::registration::CorrespondenceRejectorSampleConsensus::setSourcePoints</a></div><div class="ttdeci">void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2)</div><div class="ttdoc">Blob method for setting the source cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a0923e654979f143451b724300e591829"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a0923e654979f143451b724300e591829">pcl::registration::CorrespondenceRejectorSampleConsensus::getInlierThreshold</a></div><div class="ttdeci">double getInlierThreshold()</div><div class="ttdoc">Get the maximum distance between corresponding points.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a09e5739be1169a311fae7408e12cb359"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a09e5739be1169a311fae7408e12cb359">pcl::registration::CorrespondenceRejectorSampleConsensus::getInliersIndices</a></div><div class="ttdeci">void getInliersIndices(std::vector&lt; int &gt; &amp;inlier_indices)</div><div class="ttdoc">Get the inlier indices found by the correspondence rejector. This information is only saved if setSav...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a0ade3619194ea442ea9bd819762e63d0"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a0ade3619194ea442ea9bd819762e63d0">pcl::registration::CorrespondenceRejectorSampleConsensus::setInputSource</a></div><div class="ttdeci">virtual void setInputSource(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a source point cloud dataset (must contain XYZ data!)</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a1542fc4a3d5d6c82485a321864a027af"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a1542fc4a3d5d6c82485a321864a027af">pcl::registration::CorrespondenceRejectorSampleConsensus::getBestTransformation</a></div><div class="ttdeci">Eigen::Matrix4f getBestTransformation()</div><div class="ttdoc">Get the best transformation after RANSAC rejection.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:214</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a2aaf796cecda8778814f114c54026570"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a2aaf796cecda8778814f114c54026570">pcl::registration::CorrespondenceRejectorSampleConsensus::getRemainingCorrespondences</a></div><div class="ttdeci">void getRemainingCorrespondences(const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</div><div class="ttdoc">Get a list of valid correspondences after rejection from the original set of correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.hpp:85</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a317ed67e3cf3c3dc95515b1ae1922477"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a317ed67e3cf3c3dc95515b1ae1922477">pcl::registration::CorrespondenceRejectorSampleConsensus::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a source point cloud dataset (must contain XYZ data!)</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a365645ecdf7a1642bb4db927b71e9240"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a365645ecdf7a1642bb4db927b71e9240">pcl::registration::CorrespondenceRejectorSampleConsensus::requiresTargetPoints</a></div><div class="ttdeci">bool requiresTargetPoints() const</div><div class="ttdoc">See if this rejector requires a target cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:159</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a377dcf34beb9b60fc22dd76a5a7336ad"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a377dcf34beb9b60fc22dd76a5a7336ad">pcl::registration::CorrespondenceRejectorSampleConsensus::getSaveInliers</a></div><div class="ttdeci">bool getSaveInliers()</div><div class="ttdoc">Get whether the rejector is configured to save inliers</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:246</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a3c79c87e459d2a63d5a92e9aa2d1db37"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a3c79c87e459d2a63d5a92e9aa2d1db37">pcl::registration::CorrespondenceRejectorSampleConsensus::getInputCloud</a></div><div class="ttdeci">PointCloudConstPtr const getInputCloud()</div><div class="ttdoc">Get a pointer to the input point cloud dataset target.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.hpp:55</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a40ad890d41710c6b1eef0f75a4d24046"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a40ad890d41710c6b1eef0f75a4d24046">pcl::registration::CorrespondenceRejectorSampleConsensus::setTargetCloud</a></div><div class="ttdeci">virtual void setTargetCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a target point cloud dataset (must contain XYZ data!)</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.hpp:62</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a4178793e09de5b7a197045d144204394"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a4178793e09de5b7a197045d144204394">pcl::registration::CorrespondenceRejectorSampleConsensus::applyRejection</a></div><div class="ttdeci">void applyRejection(pcl::Correspondences &amp;correspondences)</div><div class="ttdoc">Apply the rejection algorithm.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:255</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a42faaefd43eaf43b32efe0b1722a3d98"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a42faaefd43eaf43b32efe0b1722a3d98">pcl::registration::CorrespondenceRejectorSampleConsensus::setInputTarget</a></div><div class="ttdeci">virtual void setInputTarget(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a target point cloud dataset (must contain XYZ data!)</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a48872674ea2153a558fcb10756783612"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a48872674ea2153a558fcb10756783612">pcl::registration::CorrespondenceRejectorSampleConsensus::setMaxIterations</a></div><div class="ttdeci">void setMaxIterations(int max_iterations)</div><div class="ttdoc">Set the maximum number of iterations.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.hpp:70</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a48a908a4f76abe9b09d245e295bc00e2"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a48a908a4f76abe9b09d245e295bc00e2">pcl::registration::CorrespondenceRejectorSampleConsensus::setInlierThreshold</a></div><div class="ttdeci">void setInlierThreshold(double threshold)</div><div class="ttdoc">Set the maximum distance between corresponding points. Correspondences with distances below the thres...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:176</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a49fa9e17ad1e371c4b5db9766d598349"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a49fa9e17ad1e371c4b5db9766d598349">pcl::registration::CorrespondenceRejectorSampleConsensus::setMaximumIterations</a></div><div class="ttdeci">void setMaximumIterations(int max_iterations)</div><div class="ttdoc">Set the maximum number of iterations.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:195</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a74d516ca516f7421fd86a53dec1a57b1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a74d516ca516f7421fd86a53dec1a57b1">pcl::registration::CorrespondenceRejectorSampleConsensus::input_correspondences_</a></div><div class="ttdeci">CorrespondencesConstPtr input_correspondences_</div><div class="ttdoc">The input correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a856f38d7b293a9acbd019c95cbffa124"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a856f38d7b293a9acbd019c95cbffa124">pcl::registration::CorrespondenceRejectorSampleConsensus::setSaveInliers</a></div><div class="ttdeci">void setSaveInliers(bool s)</div><div class="ttdoc">Set whether to save inliers or not</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a96e6bbc7ad3b19b4f33f60d3748a36e7"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a96e6bbc7ad3b19b4f33f60d3748a36e7">pcl::registration::CorrespondenceRejectorSampleConsensus::setTargetPoints</a></div><div class="ttdeci">void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2)</div><div class="ttdoc">Method for setting the target cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a9c435f892376eb27f1e56b0f331e91ca"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a9c435f892376eb27f1e56b0f331e91ca">pcl::registration::CorrespondenceRejectorSampleConsensus::getRefineModel</a></div><div class="ttdeci">bool getRefineModel() const</div><div class="ttdoc">Get the internal refine parameter value as set by the user using setRefineModel</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:227</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a9fee603842fbb8711d88ed2187c9212b"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a9fee603842fbb8711d88ed2187c9212b">pcl::registration::CorrespondenceRejectorSampleConsensus::requiresSourcePoints</a></div><div class="ttdeci">bool requiresSourcePoints() const</div><div class="ttdoc">See if this rejector requires source points</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_aa086670c0dec609354fcb5f02746ee8f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aa086670c0dec609354fcb5f02746ee8f">pcl::registration::CorrespondenceRejectorSampleConsensus::getMaximumIterations</a></div><div class="ttdeci">int getMaximumIterations()</div><div class="ttdoc">Get the maximum number of iterations.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:208</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_aaa1d22adcc0770ba490d63c000a80745"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aaa1d22adcc0770ba490d63c000a80745">pcl::registration::CorrespondenceRejectorSampleConsensus::CorrespondenceRejectorSampleConsensus</a></div><div class="ttdeci">CorrespondenceRejectorSampleConsensus()</div><div class="ttdoc">Empty constructor. Sets the inlier threshold to 5cm (0.05m), and the maximum number of iterations to ...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:76</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_aac049e0c3ed7ae001505766ad642b1e8"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aac049e0c3ed7ae001505766ad642b1e8">pcl::registration::CorrespondenceRejectorSampleConsensus::~CorrespondenceRejectorSampleConsensus</a></div><div class="ttdeci">virtual ~CorrespondenceRejectorSampleConsensus()</div><div class="ttdoc">Empty destructor.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:90</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_ab49081cebce1c204c25dcacf5c8f2a3b"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ab49081cebce1c204c25dcacf5c8f2a3b">pcl::registration::CorrespondenceRejectorSampleConsensus::getInputSource</a></div><div class="ttdeci">PointCloudConstPtr const getInputSource()</div><div class="ttdoc">Get a pointer to the input point cloud dataset target.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_ab97eb70d3661574301fe1f978576726d"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ab97eb70d3661574301fe1f978576726d">pcl::registration::CorrespondenceRejectorSampleConsensus::rejection_name_</a></div><div class="ttdeci">std::string rejection_name_</div><div class="ttdoc">The name of the rejection method.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_aba38b8207d7de0e9bf524989375228bb"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#aba38b8207d7de0e9bf524989375228bb">pcl::registration::CorrespondenceRejectorSampleConsensus::getInputTarget</a></div><div class="ttdeci">PointCloudConstPtr const getInputTarget()</div><div class="ttdoc">Get a pointer to the input point cloud dataset target.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:140</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_ac40d21538c1487e0a080bb084fb64cb7"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ac40d21538c1487e0a080bb084fb64cb7">pcl::registration::CorrespondenceRejectorSampleConsensus::getMaxIterations</a></div><div class="ttdeci">int getMaxIterations()</div><div class="ttdoc">Get the maximum number of iterations.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.hpp:78</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_ad51df1b8798951557863082feabcc0b8"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ad51df1b8798951557863082feabcc0b8">pcl::registration::CorrespondenceRejectorSampleConsensus::setRefineModel</a></div><div class="ttdeci">void setRefineModel(const bool refine)</div><div class="ttdoc">Specify whether the model should be refined internally using the variance of the inliers</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:220</div></div>
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